CN114554025A

CN114554025A - Three-dimensional scanning method, system, electronic device and storage medium

Info

Publication number: CN114554025A
Application number: CN202210448134.4A
Authority: CN
Inventors: 陈尚俭; 周云雷; 方乐
Original assignee: Hangzhou Scantech Co
Current assignee: Scantech Hangzhou Co Ltd
Priority date: 2022-04-27
Filing date: 2022-04-27
Publication date: 2022-05-27
Anticipated expiration: 2042-04-27
Also published as: CN114554025B

Abstract

The application relates to a three-dimensional scanning method, a system, an electronic device and a storage medium, wherein the three-dimensional scanning method comprises the steps of establishing a plug-and-play wireless network supporting a plug-and-play protocol based on a wireless communication module under the condition that a scanning device and a tracking device are connected to a local area network; when the area to be scanned is scanned, the synchronous signal between the tracking device and the scanning device is obtained through the plug-and-play wireless network, the scanning device and the tracking device are instructed to synchronously obtain respective scanning data based on the synchronous signal, and a three-dimensional scanning result of the area to be scanned is generated according to the scanning data. By the method and the device, the problem of low configuration flexibility of three-dimensional scanning is solved, and the three-dimensional scanning method supporting plug and play is realized.

Description

Three-dimensional scanning method, system, electronic device and storage medium

Technical Field

The present application relates to the field of three-dimensional scanning, and more particularly, to a three-dimensional scanning method, system, electronic device, and storage medium.

Background

In order to scan large-scale equipment such as airplanes and ships, a plurality of scanners and a plurality of trackers are often arranged in a tracking type three-dimensional scanning system so as to expand a tracking range and a scanning range, but the tracking range of a tracking head is greatly limited because cables are used for data transmission and the lengths of the cables are limited; in order to solve the problem that the tracking range and the scanning range are limited by cables, a wireless tracking scanning technology is gradually used, and a tracking head and a scanning head are required to realize wireless data transmission and data synchronization in the wireless tracking scanning process.

However, in the related art, data transmission is usually achieved by establishing a wireless local area network, for example, a star network is established through a radio frequency module to achieve data synchronization when calibrating each other, in this process, all devices in the wireless network are enabled, and if a user wants to add a new device to the system, the user needs to first close other scanned devices, then obtain the address of the new device, then modify the configuration file of the software, increase the address of the device to be connected, and finally load the configuration file, thereby completing the device online. If the address of the device changes or the address is occupied by other network devices, the above operations need to be executed again, which results in the addition and deletion of devices in the network, which is very complicated and the scanning operation lacks flexibility.

At present, no effective solution is provided for the problem of low configuration flexibility of three-dimensional scanning in the related art.

Disclosure of Invention

Embodiments of the present application provide a three-dimensional scanning method, a three-dimensional scanning system, an electronic device, and a storage medium, so as to at least solve the problem of low configuration flexibility of three-dimensional scanning in the related art.

In a first aspect, an embodiment of the present application provides a three-dimensional scanning method, which is applied to a three-dimensional scanning system, where the three-dimensional scanning system includes a scanning device and a tracking device, and the scanning device and the tracking device are respectively provided with a wireless communication module for connecting to a local area network; the method comprises the following steps:

under the condition that the scanning equipment and the tracking equipment are accessed to the local area network, a plug-and-play wireless network supporting a plug-and-play protocol is established based on the wireless communication module;

when scanning an area to be scanned, acquiring a synchronous signal between the tracking device and the scanning device through the plug-and-play wireless network, and indicating the scanning device and the tracking device to synchronously acquire respective scanning data based on the synchronous signal so as to generate a three-dimensional scanning result of the area to be scanned according to the scanning data.

In some of these embodiments, the scanning device and/or the tracking device are disposed on a movable device; after the acquiring the synchronization signal between the tracking device and the scanning device, the method further comprises:

acquiring scanning vacant view information when the scanning equipment scans a region to be scanned, and/or acquiring tracking vacant view information when the tracking equipment tracks the region to be scanned;

and under the condition that the synchronization signal indicates that the synchronization is successful, sending a movement control instruction to the movable equipment based on the acquired scanning vacant view information and/or the tracking vacant view information, so that the movable equipment executes a movement operation based on the movement control instruction.

In some embodiments, after the acquiring the synchronization signal between the tracking device and the scanning device, the method further comprises:

under the condition that the synchronization signal indicates that the synchronization is successful, acquiring registration information corresponding to the equipment to be newly added through the plug and play protocol; the device to be newly added comprises at least one scanning device to be newly added and/or at least one tracking device to be newly added;

and synchronizing the equipment to be newly added to the plug-and-play wireless network based on the registration information.

In some embodiments, the obtaining, by the plug and play protocol, the registration information corresponding to the device to be newly added includes:

under the condition that the equipment to be newly added is accessed to the local area network, searching first equipment basic information in the local area network through the plug-and-play protocol; the basic information of the first device is generated by broadcasting the corresponding device to be newly added in the local area network; the basic information of the first device comprises the device type of the device to be newly added;

and under the condition that the basic information of the first device is searched, acquiring second basic information of the corresponding device to be newly added based on the device type in the basic information of the first device, and acquiring the registration information according to the second basic information of the device to be newly added.

In some embodiments, the obtaining of the second device basic information of the device to be newly added based on the device type in the first device basic information includes:

acquiring a preset equipment information base;

matching the basic information of the first device with the search information in the device information base, and broadcasting the matched target search information in the search information through the plug and play protocol under the condition of successful matching;

and under the condition that response information sent by the equipment to be newly added based on the target search information is received, sending an information acquisition request to the corresponding equipment to be newly added so as to acquire the basic information of the second equipment based on the information acquisition request.

In some embodiments, the first device essential information further comprises device unique identification information; the obtaining of the corresponding second device basic information of the device to be newly added based on the device type in the first device basic information includes:

traversing all the basic information of the first equipment, and determining the similar equipment to be newly added in the equipment to be newly added based on the equipment type of the currently traversed basic information of the first equipment; the type of the similar equipment to be newly added is the same as the type of the equipment;

determining the current to-be-added equipment associated with the unique equipment identification information in the similar to-be-added equipment based on the unique equipment identification information of the first traversed equipment basic information, acquiring the basic information of the second equipment of the current to-be-added equipment, and acquiring the basic information of the second equipment of the next to-be-added equipment based on the next traversed first equipment basic information until all the basic information of the first equipment is traversed.

In some embodiments, the second device basic information includes the device type, device parameter information, and device function information, and the obtaining the registration information according to the second device basic information includes:

and determining the corresponding equipment to be newly added according to the equipment type, performing parameter configuration on the equipment to be newly added based on the equipment parameter information, and performing function configuration on the equipment to be newly added based on the equipment function information so as to acquire the registration information under the condition that the parameter configuration and the function configuration are successful.

In some embodiments, after the acquiring the synchronization signal between the tracking device and the scanning device based on the synchronization parameter, the method further comprises:

according to a detected deletion instruction for the equipment to be deleted, executing logout operation or power-off operation on the equipment to be deleted; wherein the to-be-deleted device comprises at least one to-be-deleted scanning device and/or at least one to-be-deleted tracking device;

under the condition that the logout operation or the power-off operation is successfully executed, detecting whether the equipment to be deleted is a control point; the control point is any one of the scanning device and the tracking device which runs a master control program, and the control point is used for establishing the plug-and-play wireless network;

under the condition that the equipment to be deleted is the control point, determining a new control point in the rest equipment again, and acquiring the synchronous signal between the rest equipment again; wherein the remaining devices refer to other devices except the device to be deleted in the scanning device and the tracking device.

In some embodiments, the acquiring, over the plug-and-play wireless network, the synchronization signal between the tracking device and the scanning device comprises:

configuring synchronization parameters between the tracking device and the scanning device through the plug-and-play wireless network so that a wireless synchronization network is established between the tracking device and the scanning device; wherein any one of the scanning devices is a central node device in the wireless synchronous network;

acquiring the synchronization signal in case the central node device synchronizes the tracking device and the scanning device to the wireless synchronization network.

In some embodiments, each of the wireless communication modules is mounted on a corresponding wearable device; the scanning device and the tracking device are respectively connected with one wearable device.

In some embodiments, when at least one of the wearable devices further comprises a master control device, and the master control device runs the master control program, any one of the wearable devices is used as a control point;

or, in the case that the three-dimensional scanning system further includes at least one computer device, any one of the computer devices that runs the main control program is used as a control point.

In a second aspect, an embodiment of the present application provides a three-dimensional scanning system, including: at least one scanning device and at least one tracking device; the scanning equipment and the tracking equipment are respectively provided with a wireless communication module for connecting a local area network; any one of the scanning device and the tracking device which runs the master control program is a control point;

the control point builds a plug-and-play wireless network supporting a plug-and-play protocol based on the wireless communication module under the condition that the scanning device and the tracking device are accessed to the local area network;

and when the control point scans a region to be scanned, the control point acquires a synchronous signal between the tracking device and the scanning device through the plug-and-play wireless network, and instructs the scanning device and the tracking device to synchronously acquire respective scanning data based on the synchronous signal so as to generate a three-dimensional scanning result according to the scanning data.

In a third aspect, an embodiment of the present application provides an electronic apparatus, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor, when executing the computer program, implements the three-dimensional scanning method according to the first aspect.

In a fourth aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored, and the program, when executed by a processor, implements the three-dimensional scanning method according to the first aspect.

Compared with the related art, the three-dimensional scanning method, the three-dimensional scanning system, the electronic device and the storage medium provided by the embodiment of the application establish a plug-and-play wireless network supporting a plug-and-play protocol based on the wireless communication module under the condition that the scanning device and the tracking device are accessed to the local area network; when the area to be scanned is scanned, the synchronous signal between the tracking device and the scanning device is obtained through the plug-and-play wireless network, the scanning device and the tracking device are instructed to synchronously obtain respective scanning data based on the synchronous signal, so that the three-dimensional scanning result of the area to be scanned is generated according to the scanning data, the problem of low configuration flexibility of three-dimensional scanning is solved, and the plug-and-play supporting three-dimensional scanning method is realized.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a flow chart of a three-dimensional scanning method according to an embodiment of the present application;

FIG. 2 is a flow chart of another three-dimensional scanning method according to an embodiment of the present application;

FIG. 3 is a block diagram of a three-dimensional scanning system according to an embodiment of the present application;

FIG. 4 is an architectural diagram of a three-dimensional scanning system in accordance with a preferred embodiment of the present application;

FIG. 5 is a timing diagram illustrating information interaction according to a preferred embodiment of the present application;

fig. 6 is a block diagram of the inside of a computer device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.

Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.

The embodiment provides a three-dimensional scanning method, which is applied to a three-dimensional scanning system, wherein the three-dimensional scanning system comprises scanning equipment and tracking equipment, and the scanning equipment and the tracking equipment are respectively provided with a wireless communication module for connecting a local area network; fig. 1 is a flowchart of a three-dimensional scanning method according to an embodiment of the present application, and as shown in fig. 1, the flowchart includes the following steps:

step S110, when the scanning device and the tracking device access the lan, a plug-and-play wireless network supporting a plug-and-play protocol is established based on the wireless communication module.

The scanning devices and the tracking devices can be connected with a local area network with a designated wireless network name, one of the scanning devices and the tracking devices can be selected as a control point at will, and the control point is responsible for performing information interaction and data analysis with other devices. The control point can receive or send information with other devices through the wireless communication module, and register each scanning device and tracking device based on the received and sent information to establish a plug-and-play wireless network.

Step S120, when scanning the area to be scanned, acquiring a synchronization signal between the tracking device and the scanning device through the plug-and-play wireless network, and instructing the scanning device and the tracking device to synchronously acquire respective scanning data based on the synchronization signal, so as to generate a three-dimensional scanning result of the area to be scanned according to the scanning data.

The control point can configure the synchronization parameters between each tracking device and each scanning device through the plug-and-play wireless network to establish a wireless synchronization network between each tracking device and each scanning device, and after synchronization is completed, a synchronization signal can be periodically generated in all devices. In the process of scanning the object to be measured or the scene to be measured in the area to be scanned, all the scanning devices and the tracking devices can complete synchronous triggering according to the synchronous signals, namely, simultaneously shoot and collect images, and calculate according to the images obtained respectively to obtain scanning data or pose data, and stamp the data with a time stamp, and send the data to the control point through the plug-and-play wireless network. After receiving the scanning data, the control point can add the scanning data into the cache, then judge the frame number through the timestamp, if the data of all the devices with the same frame number exist in the cache, take out all the data of the frame number, and finally calculate to obtain the three-dimensional scanning result. Further, the Plug and Play protocol may be a Universal Plug and Play (UPnP) protocol, so as to implement functions of automatic identification, self-adaptation, zero configuration, and the like.

Through the steps S110 to S120, the plurality of scanning devices and the plurality of tracking devices are respectively connected to the wireless communication module supporting the plug and play protocol, the plug and play wireless network is established based on the wireless communication module, further the synchronization signal between the tracking device and the scanning device is obtained through the plug and play wireless network, and finally the three-dimensional scanning result is generated based on the synchronization signal, so that the three-dimensional scanning based on the plug and play is realized, and the configuration file corresponding to the device does not need to be repeatedly loaded in the three-dimensional scanning process, so that the scanning device and the tracking device can be flexibly configured in real time according to the actual scanning condition, the problem of low configuration flexibility of the three-dimensional scanning is solved, and the three-dimensional scanning method supporting the plug and play is realized.

In some embodiments, the scanning device and/or the tracking device are disposed on a movable device; the movable device may be configured to move according to a preconfigured path, and the movable device may be an Automatic Guided Vehicle (AGV), a carrier disposed on a guide rail, or the like. After the synchronization signal between the tracking device and the scanning device is obtained, the three-dimensional scanning method further includes the following steps:

step S131, acquiring scanning blank view information when the scanning device scans the region to be scanned, and/or acquiring tracking blank view information when the tracking device tracks the region to be scanned.

In the process of scanning the to-be-scanned area, since the area of the to-be-scanned area may be very large, for example, the to-be-scanned area is a surface area of a large workpiece such as an airplane, the field of view of the synchronized scanning device cannot cover the entire to-be-scanned area at a fixed position, or the tracking device cannot track each scanning device at a fixed position, the scanning device or the tracking device may be disposed on the movable device, so that the scanning device or the tracking device can move in real time during the scanning process. It is necessary for the scanning device or the tracking device provided on the movable device to be computationally determined by the control point on the basis of the scanning situation whether it is necessary to control the scanning device or the tracking device to move. Specifically, it is possible to detect, by the control point, the vacant field of view information for the region to be scanned, and detect whether the scanning device or the tracking device needs to be moved due to the presence of a blind area.

Step S132, when the synchronization signal indicates that synchronization is successful, sending a movement control instruction to the movable device based on the acquired scanning blank field of view information and/or the tracking blank field of view information, so that the movable device executes a movement operation based on the movement control instruction.

In the scanning process, the scanning device and the tracking device realize network synchronization based on a plug and play protocol; then, in the case that it is detected that the scanning device or the tracking device needs to move through the step S131, the control point may calculate the optimal position of the tracking point or the scanning point based on the vacant field of view to calculate the target position to be moved, and send a movement control command to the movable device based on the calculation result, so that the movable device drives the tracking device or the scanning device installed on the movable device to move to the calculated target position. It can be understood that, during the moving process of the mobile device, since no configuration file is needed, the mobile device can maintain normal scanning operation, that is, the mobile device and other devices are kept synchronized in the same network, and finally generate a three-dimensional scanning result for the area to be scanned.

Through the steps S131 to S132, the obtained vacant field information indicates that the corresponding device moves, so that the tracking device or the scanning device can be moved at any time according to actual conditions under the condition that the scanning device and the tracking device are synchronized, and the corresponding configuration file does not need to be reconfigured, thereby realizing flexible real-time configuration of the positions of the scanning device and the tracking device according to the size of the area to be scanned, and effectively improving the flexibility of the three-dimensional scanning method.

In some embodiments, after the synchronization signal between the tracking device and the scanning device is obtained, the three-dimensional scanning method further includes the following steps:

step S140, under the condition that the synchronization signal indicates that the synchronization is successful, acquiring the registration information corresponding to the equipment to be newly added through the plug and play protocol; the device to be newly added comprises at least one scanning device to be newly added and/or at least one tracking device to be newly added.

After the network synchronization between the scanning device and the tracking device is realized based on the plug-and-play protocol in step S120, a new scanning device or tracking device may still need to be added for synchronization in a subsequent scanning process to meet the scanning requirement; the scanning device or the tracking device to be newly added is the device to be newly added. Specifically, the control point may obtain, through the plug and play protocol, registration information corresponding to at least one device to be newly added.

Step S150, synchronizing the device to be added to the plug-and-play wireless network based on the registration information.

And the control point identifies and registers corresponding equipment to be newly added based on the registration information so as to add the equipment to be newly added into the plug-and-play wireless network and finally complete the synchronization among the equipment to be newly added, the scanning equipment and the tracking equipment. It can be understood that after the device to be newly added is configured synchronously, the device to be newly added may start normal scanning operation, that is, the device to be newly added, the scanning device, and the tracking device may be synchronized in the same network, so as to generate a three-dimensional scanning result for the area to be scanned.

Through the steps S140 to S150, the device to be newly added is synchronized to the plug-and-play wireless network through the plug-and-play protocol, so that the device to be newly added can be added at any time according to the actual situation under the condition that the scanning device and the tracking device are synchronized, and the corresponding configuration file does not need to be reconfigured, thereby flexibly configuring the number of the scanning device and the tracking device in real time according to the size of the area to be scanned, and further improving the flexibility of the three-dimensional scanning method.

In some embodiments, a three-dimensional scanning method is provided, and fig. 2 is a flowchart of another three-dimensional scanning method according to an embodiment of the present application, and as shown in fig. 2, the flowchart includes the above step S110 and step S150, and further includes the following steps:

step S210, searching the basic information of the first device in the local area network through the plug and play protocol under the condition that the device to be newly added is accessed to the local area network; and the basic information of the first device is generated by broadcasting the corresponding device to be newly added in the local area network.

After the device to be newly added is successfully accessed to the lan, the device to be newly added may broadcast the first device basic information through a plug and play Protocol, for example, the first device basic information corresponding to the device to be newly added may be broadcast to a control point in the lan in a multicast manner through a Simple Service Discovery Protocol (SSDP for short), and waits for the control point to discover the first device basic information; the SSDP is an application layer protocol, and is one of core protocols constituting the UPnP technology. The control point searches the first device basic information in the local area network at this time.

Step S220, in a case that the basic information of the first device is searched, obtaining basic information of a second device corresponding to the device to be newly added based on the device type in the basic information of the first device, and obtaining the registration information according to the basic information of the second device.

The basic information of the first device may include a device type of a device to be newly added; the basic information of the second device also includes the device type, and further includes more detailed descriptor information such as a trigger frame rate of the device to be newly added, a service that can be provided, and the like, so that the control point configures parameters of the device to be newly added based on the more detailed basic information of the second device. Because there may be a plurality of devices to be newly added, when the control point synchronizes one of the devices to be newly added, the device to be newly added that needs to be synchronized may be determined based on the basic information of the first device, and then detailed configuration information of the device to be newly added is obtained, so as to improve the efficiency of information transmission. Specifically, in the case that the control point searches for first device basic information, and the first device basic information includes a device type, the control point may determine, based on the device type, a type of a device to be newly added that needs to be synchronized; for example, if the device type is a scanning device, the control point may determine, from all devices to be added, that the scanning device is a device to be added which needs to be synchronized, and at this time, the control point acquires the second device basic information of the determined device to be added again, and finally acquires the registration information to synchronize the device to be added. It should be added that both the first device basic information and the second device basic information may further include device unique identification information; that is, in the case that there are multiple devices to be newly added of the same device type, the control point determines the only device to be newly added based on the device type and the device unique identification information in the first device basic information, and then obtains the second device basic information of the device to be newly added, and configures the device to be newly added based on the second basic information, which is not described herein again.

Through the steps S210 to S220, the control point first receives the basic information of the first device broadcasted by the to-be-newly-added device once, determines the to-be-newly-added device to be configured synchronously based on the basic information of the first device, and then acquires the information of the second device corresponding to the determined to-be-newly-added device, so as to send detailed configuration information again under the condition of ensuring the correctness of the to-be-newly-added device, thereby avoiding the problem of low efficiency caused by sending redundant information when the devices are not required to be synchronized, effectively improving the efficiency and accuracy of synchronization of the to-be-newly-added device, and further effectively improving the efficiency and accuracy of the three-dimensional scanning method.

In some embodiments, the obtaining the second device basic information of the device to be newly added based on the device type in the first device basic information further includes:

step S221, a preset device information base is acquired.

The device information base can be preset by a user and is stored in the control point; the device information base includes search information that can be used for searching, such as device basic information corresponding to each known scanning device and tracking device, so that a subsequent control point can perform search broadcasting based on the information in the device information base. In addition, the device information base may further include parameters such as internal parameters and external parameters of each known device, so as to configure the corresponding scanning device or tracking device based on each parameter.

Step S222, matching the first device basic information with the search information in the device information base, and broadcasting the target search information matched in the search information through the plug and play protocol if the matching is successful.

The control point matches the first device basic information with the search information when receiving the first device basic information, for example, the first device basic information includes a device type, the control point matches the received device type with the search information of the device type in the device information base, and if matching target search information in the search information, which is the same as the device type, the control point can broadcast the target search information through a plug and play protocol, so as to improve search efficiency and accuracy; or, the first device basic information further includes device unique identification information, the control point may match the device type and the device unique identification information in the first device basic information with the device type and the device unique identification information of the known device in the search information, respectively, to broadcast the matched target search information. Specifically, the control point may broadcast the target search information through an SSDP protocol in the UPnP protocol, and search for a device to be newly added in the local area network.

Step S223, in a case of receiving the response information sent by the to-be-added device based on the target search information, sending an information obtaining request to the corresponding to-be-added device, so as to obtain the basic information of the second device based on the information obtaining request.

After receiving and conforming to the target search information broadcasted by the control point, the equipment to be newly added can respond through a plug-and-play protocol; for example, the device to be newly added may respond by unicast through a User Datagram Protocol (UDP) in the UPnP Protocol. The control point may further send out an acquisition request message after receiving the response message of the device to be newly added, and finally acquire the basic information of the second device. It should be added that, in the above steps S221 to S223, the target search information broadcasted by the control point may also be selectively set by the user, for example, if the user needs to newly connect to the scanning device a already stored in the device information base during the scanning process, the user may interact with the terminal device connected to the control point and input the scanning device a, the terminal device sends the scanning device a search instruction to the control point, and the control point may broadcast the target search information corresponding to the scanning device a based on the search instruction, and finally configure the scanning device a synchronously.

Through the steps S221 to S223, the control point performs matching confirmation on the basic information of the first device through the device information base, and broadcasts the target search information based on the matched result, so that the device to be newly added which needs to be configured synchronously can be quickly confirmed, and the efficiency and flexibility of the three-dimensional scanning method are improved.

In some embodiments, the obtaining the second device basic information of the to-be-added device based on the device type in the first device basic information further includes:

step S224, traversing all the basic information of the first device, and determining the same type of devices to be newly added in the devices to be newly added based on the device type of the currently traversed basic information of the first device; and the type of the similar equipment to be newly added is the same as the type of the equipment.

For example, in order to quickly determine a device to be newly added that needs to be synchronized, the control point may traverse the first device basic information of each device to be newly added, and first determine, according to the device type in the first device basic information, the similar devices to be newly added of which the type is the same as the device type in all the devices to be newly added. It can be understood that, in this step, the control point may also determine the similar device to be newly added by matching the preset device information base with the basic information of the first device.

Step S225, determining, based on the device unique identifier information of the first device basic information traversed currently, a current device to be newly added, associated with the device unique identifier information, in the similar devices to be newly added, obtaining second device basic information of the current device to be newly added, and obtaining second device basic information of a next device to be newly added based on the first device basic information traversed next, until all the first device basic information is traversed completely.

The device unique identification information may be a unique identifier such as a device ID of the corresponding device to be newly added, and the device unique identification information is used to represent the identity of the device to be newly added. After the similar devices to be newly added are determined in step S224, the control point may further detect the unique identifier information of the devices, further determine current devices to be newly added, which are matched with the unique identifier information of the devices, in each similar device to be newly added, and obtain the basic information of the second device corresponding to the current devices to be newly added. And under the condition that a plurality of devices to be newly added are arranged, traversing subsequent devices to be newly added by the control point, and acquiring the basic information of the second device of the next device to be newly added by a similar method until all the devices to be newly added are traversed. It can be understood that, in the case that there is only one device to be newly added, the detection may also be performed through the foregoing steps S224 to S225, so as to improve the accuracy of the synchronous configuration of the device to be newly added.

Through the steps S224 to S225, the first device basic information correspondingly broadcast by each device to be newly added also includes the device unique identification information, so that the device to be newly added which needs to be synchronized can be accurately determined by combining the device type and the device unique identification information, synchronization to the wrong device is avoided, and the accuracy of the three-dimensional scanning method is effectively improved; meanwhile, through the steps, the control point firstly detects the type of the equipment, and after the similar equipment to be newly added with the same type as the equipment is determined, the control point searches the similar equipment to be newly added through the unique identification information of the equipment, so that the efficiency of equipment determination is improved, and the efficiency of the three-dimensional scanning method is improved.

In some embodiments, the second device basic information includes the device type, device parameter information, and device function information, and the obtaining the registration information according to the second device basic information further includes: and determining the corresponding equipment to be newly added according to the equipment type, performing parameter configuration on the equipment to be newly added based on the equipment parameter information, and performing function configuration on the equipment to be newly added based on the equipment function information so as to acquire the registration information under the condition that the parameter configuration and the function configuration are successful. The device parameter information includes parameter information such as a trigger frame rate, a camera type, a light supplement type and the like of the device to be newly added. The device function information is used to indicate services that the device to be newly added can provide, such as whether a scanning function, a tracking function, a light supplementing function, and/or a laser function exists. In addition, the basic information of the second device may further include the unique device identification information, and the control point determines, based on the device type and the unique device identification information, a device to be added that needs to be configured synchronously. The control point performs corresponding configuration on the device to be newly added through the trigger frame rate of the device parameter information and the like, and configures the same service for the device to be newly added through the device function information, for example, the device function information indicates that the laser function can be provided, so the control point can configure the laser service for the device to be newly added based on the device function information.

Through the embodiment, the control point configures the equipment to be newly added through the equipment parameter information and the equipment function information, so that the error in use of the equipment to be newly added after synchronization caused by the error in parameter or function configuration is avoided, and the accuracy of the three-dimensional scanning method is further improved.

In some embodiments, after acquiring the synchronization signal between the tracking device and the scanning device based on the synchronization parameter, the three-dimensional scanning method further includes the following steps:

step S161, executing a logout operation or a power-off operation on the device to be deleted according to the detected deletion instruction for the device to be deleted; wherein, the device to be deleted comprises at least one scanning device to be deleted and/or at least one tracking device to be deleted.

In the process of scanning the area to be scanned, there may be a small remaining non-scanned area, and it is not necessary to restart redundant scanning devices or tracking devices, or there is a device failure and needs to be removed, and the like, at this time, a user may send a delete instruction for deleting a certain device through interaction with a terminal device connected to the control point, or a delete instruction is generated by the control point directly based on the scanning condition analysis, and the control point logs out or powers off the corresponding device to be deleted based on the delete instruction.

Step S162, detecting whether the device to be deleted is a control point under the condition that the logout operation or the power-off operation is successfully executed; the control point is any one of the scanning device and the tracking device which runs a main control program, and the control point is used for establishing the plug-and-play wireless network.

Step S163, in the case that the device to be deleted is the control point, re-determining a new control point in the remaining devices, and re-acquiring the synchronization signal between the remaining devices; wherein, the remaining device refers to the other devices except the device to be deleted in the scanning device and the tracking device.

In the steps S162 to S163, if it is detected that the logout operation or the power-off operation is successfully executed, it is required to first detect whether the device to be deleted is a control point, so as to avoid that the device stops operating or operates incorrectly due to the fact that the control point controls the fault after being deleted, thereby affecting the three-dimensional scanning process. For example, the control point may match basic information of the device with basic information of the device to be deleted, and if the matching is successful, it indicates that the device to be deleted is exactly the control point, at this time, a new control point may be determined in the remaining devices in the plug and play wireless network, and the new control point may reacquire synchronization signals between the remaining devices, so as to ensure that the remaining devices can still normally operate after the device to be deleted is successfully deleted, and finally generate the three-dimensional scanning result. It should be added that, in the process of synchronizing the subsequent devices to generate the three-dimensional scanning result, the central node device of the wireless synchronization network may perform node registration synchronization, so that in this embodiment, in addition to determining whether the deletion device is a control point, it may further determine whether the device to be deleted is a central node device in the wireless synchronization network; if the central node equipment is exactly the central node equipment, new central node equipment can be determined again in the rest equipment, and synchronization is restarted, so that the normal work of the equipment is further ensured, and the accuracy of three-dimensional scanning is improved.

Through the steps S161 to S163, the device to be deleted is logged out or powered off based on the deletion instruction, so that the device which is not needed to be used or has a fault can be flexibly removed in the three-dimensional scanning process, the number of scanning devices and tracking devices can be flexibly configured in real time according to the size of the area to be scanned, and the flexibility of three-dimensional scanning configuration is further effectively improved; meanwhile, the control points are detected in the removing process, so that the influence on the three-dimensional scanning result after the control points are deleted is avoided, and the accuracy of the three-dimensional scanning method is improved.

In some embodiments, the acquiring the synchronization signal between the tracking device and the scanning device via the plug-and-play wireless network further includes:

step S121, configuring the synchronization parameter between the tracking device and the scanning device through the plug-and-play wireless network, so as to establish a wireless synchronization network between the tracking device and the scanning device; wherein any one of the scanning devices is a central node device in the wireless synchronous network.

Before synchronization, each tracking device and each scanning device need to be added into a plug-and-play network, and then are registered into a wireless synchronization network by a central node, namely, are added into the wireless synchronization network, and finally synchronization is completed. Specifically, the control point may invoke a corresponding control thread to send a control request to configure synchronization parameters of the wireless synchronization modules in the scanning devices and the tracking devices, where the synchronization parameters include a synchronization ID, a device node type, a synchronization clock, and the like, and then the control point starts to monitor states of the tracking devices and the scanning devices and waits for the devices to join the wireless synchronization network. After each device completes the setting of the synchronization parameters, each device needs to wait for the central node device of the wireless synchronization network to detect the node corresponding to each device, and register each node in the star topology structure, thereby completing the synchronization of each scanning device and each tracking device. It should be noted that, the central node device is preferentially selected from the scanning devices; specifically, when the scanning device and the tracking device broadcast the respective first device basic information to the control point, the first device basic information may further include a synchronization node type, and the control point reads the synchronization node type, so as to determine that the device corresponding to the synchronization node type indicating the master node is the central node device.

Step S122, in the case that the central node device synchronizes the tracking device and the scanning device to the wireless synchronization network, acquiring the synchronization signal.

After the central node device synchronizes each tracking device and each scanning device to the wireless synchronization network, the wireless synchronization modules in all the tracking devices and the scanning devices periodically output a synchronization signal. The wireless synchronization module is different from the wireless communication module, the wireless synchronization module does not require the integrity of data, but ensures the real-time performance of the data so as to ensure that all synchronous tracking equipment and scanning equipment can almost simultaneously receive synchronous signals, and each tracking equipment and scanning equipment can take the synchronous signals of the respective modules as clock sources of the tracking equipment and the scanning equipment so that all the equipment can trigger and acquire images at almost the same time.

Through the steps from S121 to S122, the synchronization parameters of the devices are configured through the plug-and-play wireless network, so that the wireless synchronization network is established among the devices, signal synchronization among the scanning devices and the tracking devices is realized, errors of three-dimensional scanning results caused by time differences of image acquisition among the devices are avoided, and the accuracy of the three-dimensional scanning method is effectively improved.

In some embodiments, each of the wireless communication modules is mounted on a corresponding wearable device; the scanning device and the tracking device are respectively connected with one wearable device. The wearable device can be a portable device such as an AirGo (a smart module product applied to a three-dimensional scanning system and wearable by a user) or a watch. Through the embodiment, the wearable equipment which can be applied to the scanning equipment and the tracking equipment is added in the three-dimensional scanning method, so that the three-dimensional scanning method is convenient to carry by a user, the convenience and the flexibility of the three-dimensional scanning method are improved, and meanwhile, the scanning range is further expanded.

In some embodiments, when at least one of the wearable devices further includes a master control device, and the master control device runs the master control program, any one of the wearable devices is used as a control point; or, in the case that the three-dimensional scanning system further includes at least one computer device, any one of the computer devices that runs the main control program is used as a control point. Specifically, the wearable devices connected to the scanning devices and the tracking device may be provided with a master control device running a master control program in an embedded manner, and one device may be arbitrarily selected from the wearable devices provided with the master control device as a control point. Alternatively, in the case where a computer device is connected to the three-dimensional scanning system, the computer device may be directly set as a control point to improve the calculation power and calculation efficiency of the control point.

It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.

The present embodiment further provides a three-dimensional scanning system, and fig. 3 is a three-dimensional scanning system according to an embodiment of the present application, as shown in fig. 3, the system includes: at least one scanning device 32 and at least one tracking device 34; wherein, the scanning device 32 and the tracking device 34 are respectively provided with a wireless communication module for connecting a local area network; any one of the scanning device 32 and the tracking device 34 running the main control program is a control point; the control point builds a plug-and-play wireless network supporting a plug-and-play protocol based on the wireless communication module under the condition that the scanning device 32 and the tracking device 34 are accessed to the local area network; when scanning the area to be scanned, the control point obtains the synchronization signal between the tracking device 34 and the scanning device 32 through the plug-and-play wireless network, and instructs the scanning device 32 and the tracking device 34 to synchronously obtain respective scanning data based on the synchronization signal, so as to generate a three-dimensional scanning result according to the scanning data.

Through the embodiment, the plurality of scanning devices 32 and the plurality of tracking devices 34 are respectively connected to the wireless communication modules supporting the plug-and-play protocol, the plug-and-play wireless network is established based on the wireless communication modules, further, the synchronization signals between the tracking devices 34 and the scanning devices 32 are obtained through the plug-and-play wireless network, and finally, the three-dimensional scanning result is generated based on the synchronization signals, so that the three-dimensional scanning based on the plug-and-play is realized, the configuration files corresponding to the devices are not required to be repeatedly loaded in the three-dimensional scanning process, the scanning devices 32 and the tracking devices 34 can be flexibly configured in real time according to the actual scanning conditions, the problem of low configuration flexibility of the three-dimensional scanning is solved, and the three-dimensional scanning system supporting the plug-and-play is realized.

In some embodiments, the scanning device 32 and/or the tracking device 34 are disposed on a movable device; the control point is further configured to obtain scanning blank view information when the scanning device 32 scans the region to be scanned, and/or obtain tracking blank view information when the tracking device 34 tracks the region to be scanned; and the control point sends a movement control instruction to the movable equipment based on the acquired scanning vacant view information and/or the tracking vacant view information under the condition that the synchronization signal indicates that the synchronization is successful, so that the movable equipment executes movement operation based on the movement control instruction.

In some embodiments, the control point is further configured to, when the synchronization signal indicates that synchronization is successful, obtain, through the plug and play protocol, registration information corresponding to the device to be newly added; the device to be newly added comprises at least one scanning device to be newly added and/or at least one tracking device to be newly added; and the control point synchronizes the equipment to be newly added to the plug-and-play wireless network based on the registration information.

In some embodiments, the control point is further configured to search, by using the plug and play protocol, basic information of the first device in the local area network when the device to be newly added is accessed to the local area network; the basic information of the first device is generated by broadcasting the corresponding device to be newly added in the local area network; the first device basic information comprises the device type of the device to be newly added; and the control point acquires second equipment basic information of the corresponding equipment to be newly added based on the equipment type in the first equipment basic information under the condition that the first equipment basic information is searched, and acquires the registration information according to the second equipment basic information.

In some embodiments, the control point is further configured to obtain a preset device information base; the control point matches the basic information of the first device with the search information in the device information base, and broadcasts the matched target search information in the search information through the plug and play protocol under the condition of successful matching; and the control point sends an information acquisition request to the corresponding to-be-added equipment under the condition of receiving response information sent by the to-be-added equipment based on the target search information so as to acquire the basic information of the second equipment based on the information acquisition request.

In some embodiments, the first device basic information further includes device unique identification information; the control point is further configured to traverse all the basic information of the first device, and determine a similar device to be newly added in the devices to be newly added based on the device type of the currently traversed basic information of the first device; the type of the similar equipment to be newly added is the same as the type of the equipment; the control point determines a current device to be newly added in the similar devices to be newly added, which is associated with the device unique identification information, based on the device unique identification information of the first device basic information traversed currently, acquires the second device basic information of the current device to be newly added, and acquires the second device basic information of the next device to be newly added based on the first device basic information traversed next, until all the first device basic information is traversed completely.

In some embodiments, the second device basic information includes the device type, device parameter information, and device function information; the control point is further configured to determine the corresponding device to be newly added according to the device type, perform parameter configuration on the device to be newly added based on the device parameter information, perform function configuration on the device to be newly added based on the device function information, and acquire the registration information when the parameter configuration and the function configuration are successful.

In some embodiments, the control point is further configured to perform, according to a detected deletion instruction for a device to be deleted, a logout operation or a power-off operation on the device to be deleted; wherein, the device to be deleted comprises at least one scanning device to be deleted and/or at least one tracking device to be deleted; the control point detects whether the equipment to be deleted is the control point under the condition that the logout operation or the power-off operation is successfully executed; wherein, the control point is any one of the scanning device 32 and the tracking device 34 running a main control program, and the control point is used for establishing the plug-and-play wireless network; when the device to be deleted is the control point, the control point determines a new control point in the rest devices again and acquires the synchronous signals among the rest devices again; the remaining devices refer to the other devices of the scanning device 32 and the tracking device 34 except the device to be deleted.

In some embodiments, the control point is further configured to configure synchronization parameters between the tracking device 34 and the scanning device 32 via the plug-and-play wireless network, so that a wireless synchronization network is established between the tracking device 34 and the scanning device 32; wherein any one of the scanning devices 32 is a central node device in the wireless synchronous network; the control point acquires the synchronization signal in the event that the central node device synchronizes the tracking device 34 and the scanning device 32 to the wireless synchronization network.

In some embodiments, each wireless communication module is respectively installed on the corresponding wearable device; the scanning device 32 and the tracking device 34 are each connected to one of the wearable devices.

In some embodiments, when at least one of the wearable devices further includes a master control device, and the master control device runs the master control program, any one of the wearable devices is used as a control point; or, in the case that the three-dimensional scanning system further includes at least one computer device, any one of the computer devices that runs the main control program is used as a control point.

In the following, embodiments of the present application are described in detail with reference to an actual application scenario, where the wearable device employs AirGo, and the movable device employs an AGV cart as an example, fig. 4 is a schematic diagram of an architecture of a three-dimensional scanning system according to a preferred embodiment of the present application, and as shown in fig. 4, the system architecture is applied to an application scenario 1, where the application scenario 1 is a scenario in which a plurality of devices scan a large workpiece, and two tracking devices 34, one scanning device 32, and a computer 44 are synchronously configured, where the positions of the two tracking devices 34 and the one scanning device 32 are fixed, and a tracking device is absent in a lower left corner; when the user scans the lower left corner of the workpiece 41, the user needs to add a tracking device 42 to be added to the three-dimensional scanning system since the area is not within the tracking range of the tracker. Specifically, a user accesses an AGV cart equipped with the tracking device 34 and the AirGo43 to a power supply, the AirGo43 connected to the tracking device 34 automatically runs a main control program, establishes a connection with a local area network with a specified wireless network name, and obtains a Dynamic IP address through a Dynamic Host Configuration Protocol (DHCP) service. The tracking device 34, AirGo43 and the AGV carts connected to them are referred to collectively as tracking device 34. Taking the example that the plug-and-play protocol adopts the UPnP protocol, the UPnP protocol also comprises network protocols such as TCP/IP, UDP, HTTP and the like; fig. 5 is a timing diagram of information interaction according to a preferred embodiment of the present application, and as shown in fig. 5, in the process of accessing a to-be-added tracking device, information interaction in a device real-time dynamic configuration flow is completed by using a UPnP protocol, including the following steps:

step S501, the to-be-added tracking device multicasts and broadcasts the basic information of the first device. After the newly added tracking device is successfully accessed to the network, the basic information of the first device of the newly added tracking device is broadcasted to a control point in the network in a multicast mode through an SSDP protocol.

In step S502, the control point broadcasts target search information. If the computer runs the main control program, the computer is used as a control point to be added into the network, and broadcasts own target searching information through an SSDP protocol to search the equipment in the network.

Step S503, the device to be newly added responds with UDP protocol. When the tracking device to be newly added receives the target search information of the control point and accords with the search description of the control point, the tracking device to be newly added responds by means of UDP unicast.

Step S504, the control point sends out an information acquisition request to the tracking equipment to be newly added. And after receiving the response of the newly added tracking equipment, the control point further sends an information acquisition request.

And step S505, the to-be-added tracking device responds to the information acquisition request and sends the basic information of the second device to the control point.

Step S506, the control point registers the tracking device to be newly added based on the second device basic information, and configures the synchronization parameter. After the control point acquires the basic information of the second device, the control point identifies and registers the to-be-newly-added tracking device based on the basic information of the second device; after the registration is completed, the control point calls a corresponding control thread to send out a control request, configures the synchronization parameters of the wireless synchronization module in the tracking device to be newly added, including the synchronization ID, the device node type, the synchronization clock and the like, and then starts to monitor the state of the tracking device to be newly added and waits for the device to join the synchronization network.

Through the steps S501 to S506, after the newly added tracking device completes the setting of the synchronization parameter, the central node device of the wireless synchronization network in the system waits for detecting the node, and registers the node in the spare star topology structure, so as to complete the synchronization of the new device. And when the control point monitors that the newly added tracking equipment enters a synchronous state, the control point starts to calculate the optimal position of the tracking point of the current workpiece vacant view field and sends a movement control command to the tracking equipment. After the tracking equipment receives a moving command of the control point, the internal AirGo sends a command to indicate the AGV to move to the target position, then triggering and tracking are carried out, and the tracking head transfer is completed. After the tracking device starts tracking, the user can scan the rest part of the workpiece normally. If one tracking device connected with the AGV trolley exists in the current system, a user does not need to add a new device, and the control point controls the tracking device to execute the step of moving the tracking device for scanning; if the tracking device can capture the substation mark point all the time when moving, the moving step can be repeatedly executed, and the functions of real-time following, substation transferring and tracking of the tracker can be realized when a user scans. In addition, the user can select the device to be removed through the computer software, the main control program of the computer logs off the corresponding device, and if the device is the central node in the synchronous network, the central node in the synchronous network is replaced. The user can also directly power off the device to be removed, and the main control program executes the above process once after the heartbeat of the device is not detected, so as to remove the device. It can be understood that fig. 4 and fig. 5 illustrate application scenarios in which devices to be newly added are added, but it is obvious that a specific manner of performing synchronous configuration between each scanning device and each tracking device may also be completed by the method embodiments shown in fig. 4 and fig. 5, and details are not described here again.

The embodiment also provides a computer device, which may be a server, and fig. 6 is a structural diagram of the inside of the computer device according to the embodiment of the present application, as shown in fig. 6. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing the three-dimensional scanning results. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a three-dimensional scanning method.

Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

The present embodiment also provides an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the steps of any of the above method embodiments.

Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:

and S1, under the condition that the scanning device and the tracking device are accessed to the local area network, establishing a plug-and-play wireless network supporting a plug-and-play protocol based on the wireless communication module.

And S2, when scanning the area to be scanned, acquiring a synchronization signal between the tracking device and the scanning device through the plug-and-play wireless network, and instructing the scanning device and the tracking device to synchronously acquire respective scanning data based on the synchronization signal, so as to generate a three-dimensional scanning result of the area to be scanned according to the scanning data.

It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.

In addition, in combination with the three-dimensional scanning method in the foregoing embodiments, the embodiments of the present application may provide a storage medium to implement. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements any of the three-dimensional scanning methods in the above embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A three-dimensional scanning method is characterized in that the method is applied to a three-dimensional scanning system, the three-dimensional scanning system comprises scanning equipment and tracking equipment, and wireless communication modules used for connecting a local area network are respectively arranged on the scanning equipment and the tracking equipment; the method comprises the following steps:

2. The three-dimensional scanning method according to claim 1, wherein the scanning device and/or the tracking device is provided on a movable device; after the acquiring the synchronization signal between the tracking device and the scanning device, the method further comprises:

3. The three-dimensional scanning method of claim 1, wherein after acquiring the synchronization signal between the tracking device and the scanning device, the method further comprises:

4. The three-dimensional scanning method according to claim 3, wherein the obtaining, by using the plug and play protocol, registration information corresponding to a device to be newly added comprises:

5. The three-dimensional scanning method according to claim 4, wherein the obtaining of the second device basic information of the device to be newly added based on the device type in the first device basic information comprises:

acquiring a preset equipment information base;

and sending an information acquisition request to the corresponding to-be-newly-added equipment under the condition of receiving response information sent by the to-be-newly-added equipment based on the target search information so as to acquire the basic information of the second equipment based on the information acquisition request.

6. The three-dimensional scanning method according to claim 4, wherein the first device basic information further includes device unique identification information; the obtaining of the second device basic information of the corresponding device to be newly added based on the device type in the first device basic information includes:

7. The three-dimensional scanning method according to claim 4, wherein the second device basic information includes the device type, device parameter information, and device function information, and the obtaining the registration information according to the second device basic information includes:

8. The three-dimensional scanning method of claim 1, wherein after the acquiring a synchronization signal between the tracking device and the scanning device based on the synchronization parameter, the method further comprises:

9. The three-dimensional scanning method according to claim 1, wherein said acquiring a synchronization signal between said tracking device and said scanning device via said plug-and-play wireless network comprises:

10. The three-dimensional scanning method according to any one of claims 1 to 9, wherein each wireless communication module is respectively mounted on a corresponding wearable device; the scanning device and the tracking device are respectively connected with one wearable device.

11. The three-dimensional scanning method according to claim 10, wherein in a case where at least one of the wearable devices further includes a master control device, and the master control device runs the master control program, any one of the wearable devices is used as a control point;

12. A three-dimensional scanning system, the system comprising: at least one scanning device and at least one tracking device; the scanning equipment and the tracking equipment are respectively provided with a wireless communication module for connecting a local area network; any one of the scanning device and the tracking device which runs the master control program is a control point;

13. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and the processor is configured to execute the computer program to perform the three-dimensional scanning method according to any one of claims 1 to 11.

14. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the three-dimensional scanning method of any one of claims 1 to 11 when executed.